TY - GEN
T1 - Human-Following Control in Furrow For Agricultural Support Robot
AU - Yorozu, Ayanori
AU - Ishigami, Genya
AU - Takahashi, Masaki
N1 - Funding Information:
The research was supported by “A Framework PRINTEPS to Develop Practical Artificial Intelligence” of the Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) under Grant Number JPMJCR14E3. The robot and experimental fields were provided by The Japan Research Institute, Ltd.
Funding Information:
Acknowledgement. The research was supported by “A Framework PRINTEPS to Develop Practical Artificial Intelligence” of the Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) under Grant Number JPMJCR14E3. The robot and experimental fields were provided by The Japan Research Institute, Ltd.
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - In Japan, the reduction in agricultural work population and increase in abandoned cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot that supports the transportation of harvested crops while it follows the user. To move in the furrowed field, ridges and furrows where the robot can move must be detected using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. However, when the robot follows the user ahead of it, it has difficulty detecting the ridges because of occlusion by the user. In addition, the robot requires to follow the user and move in and out of furrows of different widths in the farm field. To achieve smooth and safe harvesting support in the field with different width furrows, we propose a method for ridge detection and tracking by measuring the furrow width and interpolation using an RGB-D camera and a method for human-following control while avoiding ridges according to the ridge observation state using fuzzy set theory. To verify the proposed methods, experiments in the farm are carried out.
AB - In Japan, the reduction in agricultural work population and increase in abandoned cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot that supports the transportation of harvested crops while it follows the user. To move in the furrowed field, ridges and furrows where the robot can move must be detected using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. However, when the robot follows the user ahead of it, it has difficulty detecting the ridges because of occlusion by the user. In addition, the robot requires to follow the user and move in and out of furrows of different widths in the farm field. To achieve smooth and safe harvesting support in the field with different width furrows, we propose a method for ridge detection and tracking by measuring the furrow width and interpolation using an RGB-D camera and a method for human-following control while avoiding ridges according to the ridge observation state using fuzzy set theory. To verify the proposed methods, experiments in the farm are carried out.
KW - Agricultural robot
KW - Following control
KW - Harvesting support
KW - Ridge detection
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U2 - 10.1007/978-3-030-95892-3_12
DO - 10.1007/978-3-030-95892-3_12
M3 - Conference contribution
AN - SCOPUS:85128775692
SN - 9783030958916
T3 - Lecture Notes in Networks and Systems
SP - 155
EP - 164
BT - Intelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
A2 - Ang Jr, Marcelo H.
A2 - Asama, Hajime
A2 - Lin, Wei
A2 - Foong, Shaohui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
Y2 - 22 June 2021 through 25 June 2021
ER -